EP1852761B1 - Robot having an obstacle detection unit and method of controlling the same - Google Patents

Robot having an obstacle detection unit and method of controlling the same Download PDF

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Publication number
EP1852761B1
EP1852761B1 EP06077225A EP06077225A EP1852761B1 EP 1852761 B1 EP1852761 B1 EP 1852761B1 EP 06077225 A EP06077225 A EP 06077225A EP 06077225 A EP06077225 A EP 06077225A EP 1852761 B1 EP1852761 B1 EP 1852761B1
Authority
EP
European Patent Office
Prior art keywords
main body
obstacle
distance
auxiliary
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP06077225A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1852761A3 (en
EP1852761A2 (en
Inventor
Joon-kee c/o Samsung Adv. Inst. of Tech. Cho
Seok-won c/o Samsung Adv. Inst. of Tech. Bang
Yeon-ho c/o Samsung Adv. Inst. of Tech. Kim
Ki-wan c/o Samsung Adv. Inst. of Tech. Choi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP1852761A2 publication Critical patent/EP1852761A2/en
Publication of EP1852761A3 publication Critical patent/EP1852761A3/en
Application granted granted Critical
Publication of EP1852761B1 publication Critical patent/EP1852761B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
EP06077225A 2006-05-01 2006-12-13 Robot having an obstacle detection unit and method of controlling the same Active EP1852761B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020060039297A KR100772907B1 (ko) 2006-05-01 2006-05-01 장애물 감지 기능을 가지는 로봇 및 그 제어 방법

Publications (3)

Publication Number Publication Date
EP1852761A2 EP1852761A2 (en) 2007-11-07
EP1852761A3 EP1852761A3 (en) 2009-05-27
EP1852761B1 true EP1852761B1 (en) 2012-11-14

Family

ID=38267696

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06077225A Active EP1852761B1 (en) 2006-05-01 2006-12-13 Robot having an obstacle detection unit and method of controlling the same

Country Status (5)

Country Link
US (1) US7602133B2 (zh)
EP (1) EP1852761B1 (zh)
JP (1) JP4417963B2 (zh)
KR (1) KR100772907B1 (zh)
CN (1) CN101066198B (zh)

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KR101970541B1 (ko) * 2012-04-06 2019-04-22 삼성전자주식회사 로봇 청소기 및 그 제어 방법
KR101450537B1 (ko) 2013-03-05 2014-10-14 엘지전자 주식회사 로봇 청소기
KR102069508B1 (ko) * 2014-03-12 2020-01-23 한화디펜스 주식회사 이동체의 센서 보호 장치
US10518416B2 (en) * 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
CN105005306B (zh) * 2015-07-24 2017-08-25 杭州德宝威智能科技有限公司 机器人表演中复位方法
CN107041718B (zh) * 2016-02-05 2021-06-01 北京小米移动软件有限公司 清洁机器人及其控制方法
EP3679847A4 (en) * 2017-09-04 2021-03-10 Chiba Institute of Technology SELF-PROPELLED VACUUM CLEANER
CN111031877A (zh) * 2017-09-04 2020-04-17 千叶工业大学 自走式扫除机
JPWO2019043936A1 (ja) * 2017-09-04 2020-04-02 学校法人千葉工業大学 自走式掃除機
JP7445381B2 (ja) * 2018-03-23 2024-03-07 東芝ライフスタイル株式会社 自律走行式掃除機およびその制御方法
CN109388143B (zh) * 2018-11-29 2024-03-12 天佑电器（苏州）有限公司 机器人及其行走控制方法
CN110547732A (zh) * 2019-08-16 2019-12-10 湖南格兰博智能科技有限责任公司 一种扫地机障碍物检测装置以及检测脱困方法
CN110888438B (zh) * 2019-11-26 2021-06-15 珠海格力电器股份有限公司 一种机器人及其控制方法以及存储介质
JP2021087556A (ja) 2019-12-03 2021-06-10 オムロン株式会社 自律走行型清掃装置
CN111538338B (zh) * 2020-05-28 2023-05-26 长沙中联重科环境产业有限公司 一种机器人贴边运动控制系统及方法
US20220125265A1 (en) * 2020-10-26 2022-04-28 Guangzhou Thirty Seven Degree Smarthome Co., Ltd. Intelligent vacuum device with extendable and deformable suction arm

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JPS6247714A (ja) 1985-08-27 1987-03-02 Toyoda Autom Loom Works Ltd 無人走行可能な車両用のセンサ装置
DE3730105A1 (de) * 1987-09-08 1989-03-16 Pietzsch Ibp Gmbh Verfahren und einrichtung zum sichern eines im raum beweglichen fahrzeugs oder geraets
JPH0680203A (ja) * 1992-03-24 1994-03-22 East Japan Railway Co 床面洗浄ロボットの制御方法
US5548511A (en) * 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
JPH0947413A (ja) * 1995-08-08 1997-02-18 Minolta Co Ltd 清掃ロボット
JP3237500B2 (ja) 1996-01-29 2001-12-10 ミノルタ株式会社 自律移動作業車
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US5942869A (en) * 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
EP1098587A1 (de) * 1998-07-31 2001-05-16 Volker Sommer Haushaltsroboter zum automatischen staubsaugen von bodenflächen
DE19916427B4 (de) 1998-07-31 2004-07-01 Sommer, Volker, Dr.-Ing. Haushaltsroboter zum automatischen Staubsaugen von Bodenflächen
KR100397844B1 (ko) 2000-12-20 2003-09-13 한국과학기술원 원격조종 리모콘을 이용한 청소용 로봇
FR2820216B1 (fr) 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
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ULRICH I ET AL: "Autonomous vacuum cleaner", ROBOTICS AND AUTONOMOUS SYSTEMS, ELSEVIER SCIENCE PUBLISHERS, AMSTERDAM, NL, vol. 19, no. 3-4, 1 March 1997 (1997-03-01), pages 233 - 245, XP004075319, ISSN: 0921-8890, DOI: 10.1016/S0921-8890(96)00053-X *

Also Published As

Publication number Publication date
JP4417963B2 (ja) 2010-02-17
CN101066198B (zh) 2010-05-26
US7602133B2 (en) 2009-10-13
JP2007299374A (ja) 2007-11-15
EP1852761A3 (en) 2009-05-27
US20070252549A1 (en) 2007-11-01
KR100772907B1 (ko) 2007-11-05
EP1852761A2 (en) 2007-11-07
CN101066198A (zh) 2007-11-07

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